/*
 * GridMapColorMaps.hpp
 *
 *  Created on: Apr 27, 2021
 *  Author: Matias Mattamala
 *  Institute: University of Oxford
 */


#pragma once
#include <OGRE/OgreMaterial.h>
#include <map>
#include <stdexcept>

namespace grid_map_rviz_plugin {

const std::map<std::string, std::vector<std::vector<float>>> colorMap{
 {"viridis", {{0.267004, 0.004874, 0.329415},{0.268510, 0.009605, 0.335427},{0.269944, 0.014625, 0.341379},{0.271305, 0.019942, 0.347269},{0.272594, 0.025563, 0.353093},{0.273809, 0.031497, 0.358853},{0.274952, 0.037752, 0.364543},{0.276022, 0.044167, 0.370164},{0.277018, 0.050344, 0.375715},{0.277941, 0.056324, 0.381191},{0.278791, 0.062145, 0.386592},{0.279566, 0.067836, 0.391917},{0.280267, 0.073417, 0.397163},{0.280894, 0.078907, 0.402329},{0.281446, 0.084320, 0.407414},{0.281924, 0.089666, 0.412415},{0.282327, 0.094955, 0.417331},{0.282656, 0.100196, 0.422160},{0.282910, 0.105393, 0.426902},{0.283091, 0.110553, 0.431554},{0.283197, 0.115680, 0.436115},{0.283229, 0.120777, 0.440584},{0.283187, 0.125848, 0.444960},{0.283072, 0.130895, 0.449241},{0.282884, 0.135920, 0.453427},{0.282623, 0.140926, 0.457517},{0.282290, 0.145912, 0.461510},{0.281887, 0.150881, 0.465405},{0.281412, 0.155834, 0.469201},{0.280868, 0.160771, 0.472899},{0.280255, 0.165693, 0.476498},{0.279574, 0.170599, 0.479997},{0.278826, 0.175490, 0.483397},{0.278012, 0.180367, 0.486697},{0.277134, 0.185228, 0.489898},{0.276194, 0.190074, 0.493001},{0.275191, 0.194905, 0.496005},{0.274128, 0.199721, 0.498911},{0.273006, 0.204520, 0.501721},{0.271828, 0.209303, 0.504434},{0.270595, 0.214069, 0.507052},{0.269308, 0.218818, 0.509577},{0.267968, 0.223549, 0.512008},{0.266580, 0.228262, 0.514349},{0.265145, 0.232956, 0.516599},{0.263663, 0.237631, 0.518762},{0.262138, 0.242286, 0.520837},{0.260571, 0.246922, 0.522828},{0.258965, 0.251537, 0.524736},{0.257322, 0.256130, 0.526563},{0.255645, 0.260703, 0.528312},{0.253935, 0.265254, 0.529983},{0.252194, 0.269783, 0.531579},{0.250425, 0.274290, 0.533103},{0.248629, 0.278775, 0.534556},{0.246811, 0.283237, 0.535941},{0.244972, 0.287675, 0.537260},{0.243113, 0.292092, 0.538516},{0.241237, 0.296485, 0.539709},{0.239346, 0.300855, 0.540844},{0.237441, 0.305202, 0.541921},{0.235526, 0.309527, 0.542944},{0.233603, 0.313828, 0.543914},{0.231674, 0.318106, 0.544834},{0.229739, 0.322361, 0.545706},{0.227802, 0.326594, 0.546532},{0.225863, 0.330805, 0.547314},{0.223925, 0.334994, 0.548053},{0.221989, 0.339161, 0.548752},{0.220057, 0.343307, 0.549413},{0.218130, 0.347432, 0.550038},{0.216210, 0.351535, 0.550627},{0.214298, 0.355619, 0.551184},{0.212395, 0.359683, 0.551710},{0.210503, 0.363727, 0.552206},{0.208623, 0.367752, 0.552675},{0.206756, 0.371758, 0.553117},{0.204903, 0.375746, 0.553533},{0.203063, 0.379716, 0.553925},{0.201239, 0.383670, 0.554294},{0.199430, 0.387607, 0.554642},{0.197636, 0.391528, 0.554969},{0.195860, 0.395433, 0.555276},{0.194100, 0.399323, 0.555565},{0.192357, 0.403199, 0.555836},{0.190631, 0.407061, 0.556089},{0.188923, 0.410910, 0.556326},{0.187231, 0.414746, 0.556547},{0.185556, 0.418570, 0.556753},{0.183898, 0.422383, 0.556944},{0.182256, 0.426184, 0.557120},{0.180629, 0.429975, 0.557282},{0.179019, 0.433756, 0.557430},{0.177423, 0.437527, 0.557565},{0.175841, 0.441290, 0.557685},{0.174274, 0.445044, 0.557792},{0.172719, 0.448791, 0.557885},{0.171176, 0.452530, 0.557965},{0.169646, 0.456262, 0.558030},{0.168126, 0.459988, 0.558082},{0.166617, 0.463708, 0.558119},{0.165117, 0.467423, 0.558141},{0.163625, 0.471133, 0.558148},{0.162142, 0.474838, 0.558140},{0.160665, 0.478540, 0.558115},{0.159194, 0.482237, 0.558073},{0.157729, 0.485932, 0.558013},{0.156270, 0.489624, 0.557936},{0.154815, 0.493313, 0.557840},{0.153364, 0.497000, 0.557724},{0.151918, 0.500685, 0.557587},{0.150476, 0.504369, 0.557430},{0.149039, 0.508051, 0.557250},{0.147607, 0.511733, 0.557049},{0.146180, 0.515413, 0.556823},{0.144759, 0.519093, 0.556572},{0.143343, 0.522773, 0.556295},{0.141935, 0.526453, 0.555991},{0.140536, 0.530132, 0.555659},{0.139147, 0.533812, 0.555298},{0.137770, 0.537492, 0.554906},{0.136408, 0.541173, 0.554483},{0.135066, 0.544853, 0.554029},{0.133743, 0.548535, 0.553541},{0.132444, 0.552216, 0.553018},{0.131172, 0.555899, 0.552459},{0.129933, 0.559582, 0.551864},{0.128729, 0.563265, 0.551229},{0.127568, 0.566949, 0.550556},{0.126453, 0.570633, 0.549841},{0.125394, 0.574318, 0.549086},{0.124395, 0.578002, 0.548287},{0.123463, 0.581687, 0.547445},{0.122606, 0.585371, 0.546557},{0.121831, 0.589055, 0.545623},{0.121148, 0.592739, 0.544641},{0.120565, 0.596422, 0.543611},{0.120092, 0.600104, 0.542530},{0.119738, 0.603785, 0.541400},{0.119512, 0.607464, 0.540218},{0.119423, 0.611141, 0.538982},{0.119483, 0.614817, 0.537692},{0.119699, 0.618490, 0.536347},{0.120081, 0.622161, 0.534946},{0.120638, 0.625828, 0.533488},{0.121380, 0.629492, 0.531973},{0.122312, 0.633153, 0.530398},{0.123444, 0.636809, 0.528763},{0.124780, 0.640461, 0.527068},{0.126326, 0.644107, 0.525311},{0.128087, 0.647749, 0.523491},{0.130067, 0.651384, 0.521608},{0.132268, 0.655014, 0.519661},{0.134692, 0.658636, 0.517649},{0.137339, 0.662252, 0.515571},{0.140210, 0.665859, 0.513427},{0.143303, 0.669459, 0.511215},{0.146616, 0.673050, 0.508936},{0.150148, 0.676631, 0.506589},{0.153894, 0.680203, 0.504172},{0.157851, 0.683765, 0.501686},{0.162016, 0.687316, 0.499129},{0.166383, 0.690856, 0.496502},{0.170948, 0.694384, 0.493803},{0.175707, 0.697900, 0.491033},{0.180653, 0.701402, 0.488189},{0.185783, 0.704891, 0.485273},{0.191090, 0.708366, 0.482284},{0.196571, 0.711827, 0.479221},{0.202219, 0.715272, 0.476084},{0.208030, 0.718701, 0.472873},{0.214000, 0.722114, 0.469588},{0.220124, 0.725509, 0.466226},{0.226397, 0.728888, 0.462789},{0.232815, 0.732247, 0.459277},{0.239374, 0.735588, 0.455688},{0.246070, 0.738910, 0.452024},{0.252899, 0.742211, 0.448284},{0.259857, 0.745492, 0.444467},{0.266941, 0.748751, 0.440573},{0.274149, 0.751988, 0.436601},{0.281477, 0.755203, 0.432552},{0.288921, 0.758394, 0.428426},{0.296479, 0.761561, 0.424223},{0.304148, 0.764704, 0.419943},{0.311925, 0.767822, 0.415586},{0.319809, 0.770914, 0.411152},{0.327796, 0.773980, 0.406640},{0.335885, 0.777018, 0.402049},{0.344074, 0.780029, 0.397381},{0.352360, 0.783011, 0.392636},{0.360741, 0.785964, 0.387814},{0.369214, 0.788888, 0.382914},{0.377779, 0.791781, 0.377939},{0.386433, 0.794644, 0.372886},{0.395174, 0.797475, 0.367757},{0.404001, 0.800275, 0.362552},{0.412913, 0.803041, 0.357269},{0.421908, 0.805774, 0.351910},{0.430983, 0.808473, 0.346476},{0.440137, 0.811138, 0.340967},{0.449368, 0.813768, 0.335384},{0.458674, 0.816363, 0.329727},{0.468053, 0.818921, 0.323998},{0.477504, 0.821444, 0.318195},{0.487026, 0.823929, 0.312321},{0.496615, 0.826376, 0.306377},{0.506271, 0.828786, 0.300362},{0.515992, 0.831158, 0.294279},{0.525776, 0.833491, 0.288127},{0.535621, 0.835785, 0.281908},{0.545524, 0.838039, 0.275626},{0.555484, 0.840254, 0.269281},{0.565498, 0.842430, 0.262877},{0.575563, 0.844566, 0.256415},{0.585678, 0.846661, 0.249897},{0.595839, 0.848717, 0.243329},{0.606045, 0.850733, 0.236712},{0.616293, 0.852709, 0.230052},{0.626579, 0.854645, 0.223353},{0.636902, 0.856542, 0.216620},{0.647257, 0.858400, 0.209861},{0.657642, 0.860219, 0.203082},{0.668054, 0.861999, 0.196293},{0.678489, 0.863742, 0.189503},{0.688944, 0.865448, 0.182725},{0.699415, 0.867117, 0.175971},{0.709898, 0.868751, 0.169257},{0.720391, 0.870350, 0.162603},{0.730889, 0.871916, 0.156029},{0.741388, 0.873449, 0.149561},{0.751884, 0.874951, 0.143228},{0.762373, 0.876424, 0.137064},{0.772852, 0.877868, 0.131109},{0.783315, 0.879285, 0.125405},{0.793760, 0.880678, 0.120005},{0.804182, 0.882046, 0.114965},{0.814576, 0.883393, 0.110347},{0.824940, 0.884720, 0.106217},{0.835270, 0.886029, 0.102646},{0.845561, 0.887322, 0.099702},{0.855810, 0.888601, 0.097452},{0.866013, 0.889868, 0.095953},{0.876168, 0.891125, 0.095250},{0.886271, 0.892374, 0.095374},{0.896320, 0.893616, 0.096335},{0.906311, 0.894855, 0.098125},{0.916242, 0.896091, 0.100717},{0.926106, 0.897330, 0.104071},{0.935904, 0.898570, 0.108131},{0.945636, 0.899815, 0.112838},{0.955300, 0.901065, 0.118128},{0.964894, 0.902323, 0.123941},{0.974417, 0.903590, 0.130215},{0.983868, 0.904867, 0.136897},{0.993248, 0.906157, 0.143936}}},
 {"plasma", {{0.050383, 0.029803, 0.527975},{0.063536, 0.028426, 0.533124},{0.075353, 0.027206, 0.538007},{0.086222, 0.026125, 0.542658},{0.096379, 0.025165, 0.547103},{0.105980, 0.024309, 0.551368},{0.115124, 0.023556, 0.555468},{0.123903, 0.022878, 0.559423},{0.132381, 0.022258, 0.563250},{0.140603, 0.021687, 0.566959},{0.148607, 0.021154, 0.570562},{0.156421, 0.020651, 0.574065},{0.164070, 0.020171, 0.577478},{0.171574, 0.019706, 0.580806},{0.178950, 0.019252, 0.584054},{0.186213, 0.018803, 0.587228},{0.193374, 0.018354, 0.590330},{0.200445, 0.017902, 0.593364},{0.207435, 0.017442, 0.596333},{0.214350, 0.016973, 0.599239},{0.221197, 0.016497, 0.602083},{0.227983, 0.016007, 0.604867},{0.234715, 0.015502, 0.607592},{0.241396, 0.014979, 0.610259},{0.248032, 0.014439, 0.612868},{0.254627, 0.013882, 0.615419},{0.261183, 0.013308, 0.617911},{0.267703, 0.012716, 0.620346},{0.274191, 0.012109, 0.622722},{0.280648, 0.011488, 0.625038},{0.287076, 0.010855, 0.627295},{0.293478, 0.010213, 0.629490},{0.299855, 0.009561, 0.631624},{0.306210, 0.008902, 0.633694},{0.312543, 0.008239, 0.635700},{0.318856, 0.007576, 0.637640},{0.325150, 0.006915, 0.639512},{0.331426, 0.006261, 0.641316},{0.337683, 0.005618, 0.643049},{0.343925, 0.004991, 0.644710},{0.350150, 0.004382, 0.646298},{0.356359, 0.003798, 0.647810},{0.362553, 0.003243, 0.649245},{0.368733, 0.002724, 0.650601},{0.374897, 0.002245, 0.651876},{0.381047, 0.001814, 0.653068},{0.387183, 0.001434, 0.654177},{0.393304, 0.001114, 0.655199},{0.399411, 0.000859, 0.656133},{0.405503, 0.000678, 0.656977},{0.411580, 0.000577, 0.657730},{0.417642, 0.000564, 0.658390},{0.423689, 0.000646, 0.658956},{0.429719, 0.000831, 0.659425},{0.435734, 0.001127, 0.659797},{0.441732, 0.001540, 0.660069},{0.447714, 0.002080, 0.660240},{0.453677, 0.002755, 0.660310},{0.459623, 0.003574, 0.660277},{0.465550, 0.004545, 0.660139},{0.471457, 0.005678, 0.659897},{0.477344, 0.006980, 0.659549},{0.483210, 0.008460, 0.659095},{0.489055, 0.010127, 0.658534},{0.494877, 0.011990, 0.657865},{0.500678, 0.014055, 0.657088},{0.506454, 0.016333, 0.656202},{0.512206, 0.018833, 0.655209},{0.517933, 0.021563, 0.654109},{0.523633, 0.024532, 0.652901},{0.529306, 0.027747, 0.651586},{0.534952, 0.031217, 0.650165},{0.540570, 0.034950, 0.648640},{0.546157, 0.038954, 0.647010},{0.551715, 0.043136, 0.645277},{0.557243, 0.047331, 0.643443},{0.562738, 0.051545, 0.641509},{0.568201, 0.055778, 0.639477},{0.573632, 0.060028, 0.637349},{0.579029, 0.064296, 0.635126},{0.584391, 0.068579, 0.632812},{0.589719, 0.072878, 0.630408},{0.595011, 0.077190, 0.627917},{0.600266, 0.081516, 0.625342},{0.605485, 0.085854, 0.622686},{0.610667, 0.090204, 0.619951},{0.615812, 0.094564, 0.617140},{0.620919, 0.098934, 0.614257},{0.625987, 0.103312, 0.611305},{0.631017, 0.107699, 0.608287},{0.636008, 0.112092, 0.605205},{0.640959, 0.116492, 0.602065},{0.645872, 0.120898, 0.598867},{0.650746, 0.125309, 0.595617},{0.655580, 0.129725, 0.592317},{0.660374, 0.134144, 0.588971},{0.665129, 0.138566, 0.585582},{0.669845, 0.142992, 0.582154},{0.674522, 0.147419, 0.578688},{0.679160, 0.151848, 0.575189},{0.683758, 0.156278, 0.571660},{0.688318, 0.160709, 0.568103},{0.692840, 0.165141, 0.564522},{0.697324, 0.169573, 0.560919},{0.701769, 0.174005, 0.557296},{0.706178, 0.178437, 0.553657},{0.710549, 0.182868, 0.550004},{0.714883, 0.187299, 0.546338},{0.719181, 0.191729, 0.542663},{0.723444, 0.196158, 0.538981},{0.727670, 0.200586, 0.535293},{0.731862, 0.205013, 0.531601},{0.736019, 0.209439, 0.527908},{0.740143, 0.213864, 0.524216},{0.744232, 0.218288, 0.520524},{0.748289, 0.222711, 0.516834},{0.752312, 0.227133, 0.513149},{0.756304, 0.231555, 0.509468},{0.760264, 0.235976, 0.505794},{0.764193, 0.240396, 0.502126},{0.768090, 0.244817, 0.498465},{0.771958, 0.249237, 0.494813},{0.775796, 0.253658, 0.491171},{0.779604, 0.258078, 0.487539},{0.783383, 0.262500, 0.483918},{0.787133, 0.266922, 0.480307},{0.790855, 0.271345, 0.476706},{0.794549, 0.275770, 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};

static Ogre::ColourValue getColorMap(float intensity, const std::vector<std::vector<float>>& ctable) {
  intensity = std::min(intensity, 1.0f);
  intensity = std::max(intensity, 0.0f);

  int idx = int(floor(intensity*255));
  idx = std::min(idx, 255);
  idx = std::max(idx, 0);

  // Get color from table
  std::vector<float> rgb = ctable.at(idx);

  Ogre::ColourValue color;
  color.r = rgb[0];
  color.g = rgb[1];
  color.b = rgb[2];

  return color;
}

static std::vector<std::string> getColorMapNames() {
  std::vector<std::string> types;
  types.reserve(colorMap.size());

  for(auto it : colorMap) {
    types.push_back(it.first);
  }
  
  return types;
}

}  // end namespace grid_map_rviz_plugin